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ekf2: incorporate fixes to covariance prediction and initialisation

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Update ecl library reference.
Update default parameters
This commit is contained in:
Paul Riseborough
2016-04-01 17:57:57 -07:00
committed by Lorenz Meier
parent 222566de6e
commit e66a3bd99f
3 changed files with 28 additions and 16 deletions
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src/modules/ekf2/ekf2_main.cpp
+4 -2
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@@ -172,7 +172,8 @@ private:
control::BlockParamFloat *_gyro_bias_p_noise;
control::BlockParamFloat *_accel_bias_p_noise;
control::BlockParamFloat *_gyro_scale_p_noise;
control::BlockParamFloat *_mag_p_noise;
control::BlockParamFloat *_mage_p_noise;
control::BlockParamFloat *_magb_p_noise;
control::BlockParamFloat *_wind_vel_p_noise;
control::BlockParamFloat *_terrain_p_noise; // terrain offset state random walk (m/s)
control::BlockParamFloat *_terrain_gradient; // magnitude of terrain gradient (m/m)
@@ -254,7 +255,8 @@ Ekf2::Ekf2():
_gyro_bias_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_B_NOISE", false, &_params->gyro_bias_p_noise)),
_accel_bias_p_noise(new control::BlockParamFloat(this, "EKF2_ACC_B_NOISE", false, &_params->accel_bias_p_noise)),
_gyro_scale_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_S_NOISE", false, &_params->gyro_scale_p_noise)),
_mag_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_B_NOISE", false, &_params->mag_p_noise)),
_mage_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_E_NOISE", false, &_params->mage_p_noise)),
_magb_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_B_NOISE", false, &_params->magb_p_noise)),
_wind_vel_p_noise(new control::BlockParamFloat(this, "EKF2_WIND_NOISE", false, &_params->wind_vel_p_noise)),
_terrain_p_noise(new control::BlockParamFloat(this, "EKF2_TERR_NOISE", false, &_params->terrain_p_noise)),
_terrain_gradient(new control::BlockParamFloat(this, "EKF2_TERR_GRAD", false, &_params->terrain_gradient)),